# pins.hal sets up hardware probe to signal 'probe'

# Add a lowpass filter to probe signal when not in a probing move

###########################
# Setup lowpass component #
###########################
loadrt lowpass names=probe-lowpass
addf probe-lowpass servo-thread

# For a sampling period T (seconds),
# the gain for this Hal lowpass component is:
# gain = 1 - e^(-a * T)
# Example:
# T = 0.001 seconds (typical servo thread period)
# a = (2*pi*100) (100Hz bandwith single pole)
# gain = 0.466

sets probe-lowpass.gain 0.466

################################
# Setup motion-type comparator #
################################
loadrt comp names=motion-eq-probing
addf motion-eq-probing servo-thread

# When probing motion.motion−type == 5
setp motion-eq-probing.in0 5
net motion-type motion-eq-probing.in1 <= motion.motion−type

net disable-probe-lowpass motion-eq-probing.equal => probe-lowpass.load

# Probe signal via lowpass component
net probe => probe-lowpass.in
net probe-filtered probe-lowpass.out => motion.probe-input